CN108908388A - A kind of miniature gears gripper and its working method - Google Patents
A kind of miniature gears gripper and its working method Download PDFInfo
- Publication number
- CN108908388A CN108908388A CN201811014924.1A CN201811014924A CN108908388A CN 108908388 A CN108908388 A CN 108908388A CN 201811014924 A CN201811014924 A CN 201811014924A CN 108908388 A CN108908388 A CN 108908388A
- Authority
- CN
- China
- Prior art keywords
- driven
- gear
- gripper
- miniature gears
- claw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims abstract description 63
- 238000007599 discharging Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 238000005728 strengthening Methods 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The present invention relates to gripper construction applications, a kind of miniature gears gripper and its working method are disclosed.It creates through the invention; it can provide a kind of Novel machine machinery claw by rotation drive device gathering synchronous with the gearing relationships driving driven claw of multiple groups or scattering; due to the Novel machine machinery claw have the advantages that compact, crawl opening and closing active strokes it is big and can auto-strengthening be crawled object; it can be adapted for mount in narrow space, realize the purpose for grabbing small-sized object in compact automated instruments equipment.In addition, the miniature gears gripper also has the characteristics that cost of implementation is cheap, control mode is easy and easy accurate positioning, it is convenient for practical promotion and application.
Description
Technical field
The invention belongs to gripper construction applications, and in particular to a kind of miniature gears gripper and its working method.
Background technique
Gripper is a kind of mechanical part that similar human hand function may be implemented, and is mainly used to hold workpiece or object
Deng being important one of executing agency.It is currently different according to the shape for holding workpiece, gripper can be divided into following three types：
(1) gripper, also known as mechanical clamp, including 2 refer to, 3 refer to and deformed finger；It (2) include the special gripper of magnetic-disc, welding gun etc.；
(3) general gripper, including 2 point to 5 fingers.
But existing machinery pawl is mostly cylinder type, there are own vol greatly and crawl opening and closing active strokes it is small the problems such as,
Cause directly to use in compact appts equipment, i.e., can not solve to grab in compact automated instruments equipment small-sized
The problem of object.In addition, other grippers being driven by motor are there is also with high costs and be not easy universal problem, therefore develop
A compact, crawl opening and closing stroke is big and Novel machine machinery claw of reasonable cost is imperative.
Summary of the invention
In order to solve the above problems existing in the present technology, it is an object of that present invention to provide a kind of miniature gears gripper and
Its working method.
The technical scheme adopted by the invention is as follows：
A kind of miniature gears gripper, including main mounting plate, gear mounting plate, rotation drive device, driving gear and extremely
Few three groups of driven claws；
The gear mounting plate is mounted on the front of the main mounting plate, and the rotation drive device is mounted on the main peace
The back side of loading board, the rotation axis of the rotation drive device sequentially passes through the main mounting plate and the gear mounting plate, described
Driving gear fixing sleeve is in the rotation axis；
The driven claw includes driven gear fixing axle, driven gear and claw bar, wherein the driven gear is fixed
One end of axis is vertically mounted on the front of the gear mounting plate, and the driven gear is actively set on the driven gear fixing axle
The other end, one end of the claw bar is vertically mounted on the front edge region of the driven gear；
All driven gears are arranged around the driving gear, and nibble the driven gear only with the driving gear
It closes.
Optimization, further include cast outer cover, wherein and the cast outer cover cooperates backwards to nozzle and the main mounting plate,
It is formed outside the protection for surrounding the gear mounting plate, the driving gear, the driven gear fixing axle and the driven gear
Shell；The other end of the claw bar stretches out the cast outer cover.
It advanced optimizes, the positive nozzle position of the cast outer cover is equipped with closed plate, and opens in the closed plate
Have and the one-to-one arcuate movement track through-hole of the claw bar；The other end of the claw bar is passing through corresponding arc fortune
The cast outer cover is stretched out after dynamic rail mark through-hole.
Specifically, the cast outer cover is metal casing.
Optimization, Anti-slip cover is cased in the other end of the claw bar.
Optimization, all driven gears are around the driving gear spaced set.
Optimization, when the number of the driven claw is three groups, all driven gears are around the driving tooth wheel shape
At equilateral triangle.
Specifically, the claw bar is metallic rod.
Specifically, the rotation drive device is micromotor or rotary cylinder.
Another technical solution of the present invention is：
A kind of working method of aforementioned miniature gears gripper, including it is as follows：
(A) when grabbing object：Start rotation drive device, drives rotation axis and driving gear to rotate clockwise, then
By the meshing relation of driving gear and driven gear, driven gear is driven to rotate counterclockwise, so that all claw bars are opposite
It is collapsed in the axle center of the rotation axis, to clamp target piece；
(B) when discharging object：Start rotation drive device, drives rotation axis and driving gear to rotate counterclockwise, then
By the meshing relation of driving gear and driven gear, driven gear is driven to rotate clockwise, so that all claw bars are opposite
It scatters in the axle center of the rotation axis, to unclamp gripping objects.
Beneficial effects of the present invention are：
(1) the invention provides a kind of by rotation drive device and the gearing relationships driving driven claw of multiple groups
The synchronous Novel machine machinery claw for collapsing or scattering, have compact, crawl opening and closing active strokes big due to the Novel machine machinery claw and
Can auto-strengthening the advantages of being crawled object, can be adapted for mount in narrow space, realization is set in compact self-reacting device
The purpose of standby middle crawl small-sized object；
(2) it by setting cast outer cover, can completely cut off inside and outside, internal engagement action had both been avoided to make external human body or object
It at damage, and can prevent internal engagement action from not will receive external disturbance, ensure the normal work of gripper；
(3) by the way that Anti-slip cover is arranged in claw boom end, the frictional force of itself and crawl object can be greatly promoted, it is ensured that object
The stability of part crawl；
(4) the miniature gears gripper also have that cost of implementation is cheap, control mode is easy and it is easy be accurately positioned etc. it is special
Point is convenient for practical promotion and application.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the positive structure schematic of miniature gears gripper provided by the invention.
Fig. 2 is positive structure schematic in the cover of miniature gears gripper provided by the invention.
Fig. 3 is the side structure schematic diagram of miniature gears gripper provided by the invention.
Fig. 4 is the structure schematic diagram of miniature gears gripper provided by the invention.
In above-mentioned attached drawing：The main mounting plate of 1-；2- gear mounting plate；3- rotation drive device；301- rotation axis；4- driving tooth
Wheel；5- driven gear fixing axle；6- driven gear；7- claw bar；701- Anti-slip cover；8- cast outer cover；801- closed plate；802-
Arcuate movement track through-hole.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.It should be noted that for this
The explanation of a little way of example is used to help understand the present invention, but and does not constitute a limitation of the invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate：Individualism A, individualism B exist simultaneously tri- kinds of situations of A and B, the terms
"/and " it is to describe another affiliated partner relationship, indicate may exist two kinds of relationships, for example, A/ and B, can indicate：Individually deposit
In A, two kinds of situations of individualism A and B, in addition, character "/" herein, typicallying represent forward-backward correlation object is a kind of "or" pass
System.
Embodiment one
As shown in figures 1-4, the miniature gears gripper provided in this embodiment, including the installation of main mounting plate 1, gear
Plate 2, rotation drive device 3, driving gear 4 and at least three groups of driven claws；The gear mounting plate 2 is mounted on the main installation
The front of plate 1, the rotation drive device 3 are mounted on the back side of the main mounting plate 1, the rotation of the rotation drive device 3
Axis 301 sequentially passes through the main mounting plate 1 and the gear mounting plate 2, and 4 fixing sleeve of driving gear is in the rotation axis
On 301；The driven claw includes driven gear fixing axle 5, driven gear 6 and claw bar 7, wherein the driven gear is solid
One end of dead axle 5 is vertically mounted on the front of the gear mounting plate 2, and the driven gear 6 is actively set on the driven gear
The other end of fixing axle 5, one end of the claw bar 7 are vertically mounted on the front edge region of the driven gear 6；It is all
Driven gear 6 be arranged around the driving gear 4, and engage the driven gear 6 only with the driving gear 4.
As shown in figures 1-4, in the structure of the miniature gears gripper, the rotation drive device 3 is for passing through institute
Stating rotation axis 301 drives the driving gear 4 to rotate clockwise or rotate counterclockwise, can be, but not limited to as micromotor or
The existing rotational driving device such as rotary cylinder.The driving gear 4 is used to drive the driven claw of each group by gear teeth meshing relationship
In driven gear 6 rotation (driving gear 4 rotates clockwise at this time) or rotate clockwise the (active at this time counterclockwise
Gear 4 rotates counterclockwise).The driven claw is used for as movable finger, and realization, which collapses crawl object or scatters, discharges object
Movement, three groups can be set as illustrated in fig. 1 and 2, may be set to be four groups or five groups etc..The driven gear 6 is used
It rotates or rotates clockwise counterclockwise around its axle center with the claw bar 7 of group in driving in rotary course.Due to it is all from
Moving gear 6 is arranged around the driving gear 4, therefore the claw bar 7 is rotated around the axle center with group impulsion gear 6
During, arcuately motion profile will necessarily be close to or far from axle center (namely the driving gear 4 of the rotation axis 301
Axle center), so that the claw bar 7 in all groups can collapse together be configured to crawl object cleft hand.
The working method of aforementioned miniature gears gripper, can be, but not limited to include as follows：(A) when grabbing object：It opens
Dynamic rotation drive device 3, drives rotation axis 301 and driving gear 4 to rotate clockwise, and then passes through driving gear 4 and driven tooth
The meshing relation of wheel 6 drives driven gear 6 to rotate counterclockwise, so that all claw bars 7 are relative to the rotation axis 301
Axle center is collapsed, to clamp target piece；(B) when discharging object：Start rotation drive device 3, drives rotation axis 301 and master
Moving gear 4 rotates counterclockwise, then passes through the meshing relation of driving gear 4 and driven gear 6, drives driven gear 6 clockwise
Rotation, so that all claw bars 7 scatter relative to the axle center of the rotation axis 301, to unclamp gripping objects.In addition, working as
It, can also be when grabbing object, by driving counterclockwise when the claw bar 7 can be without constraint rotation (when 360 degree rotation)
The driving gear 4, which is realized, collapses gripping objects purpose, and when discharging object, by driving the driving gear 4 clockwise
Realization, which is scattered, discharges object purpose.
From there through aforementioned miniature gears gripper and its detailed description of working method, it is possible to provide a kind of to be driven using rotation
The Novel machine machinery claw moving device gathering synchronous with the gearing relationships driving driven claw of multiple groups or scattering, and make the novel mechanical
Pawl has compact, crawl opening and closing active strokes, and (crawl opening and closing active strokes are the arcuate movement of the claw bar 7 greatly
Track both ends distance may be up to the diameter of the driven gear 6) and can auto-strengthening the advantages of being crawled object, can be suitble to
It is mounted in narrow space, realizes the purpose for grabbing small-sized object in compact automated instruments equipment.In addition, this is novel
Mechanization also has the characteristics that cost of implementation is cheap, control mode is easy and easy accurate positioning, is convenient for practical promotion and application.
Optimization, further include cast outer cover 8, wherein the cast outer cover 8 is matched backwards to nozzle with the main mounting plate 1
It closes, is formed and surround the gear mounting plate 2, the driving gear 4, the driven gear fixing axle 5 and the driven gear 6
Protect shell；The other end of the claw bar 7 stretches out the cast outer cover 8.As shown in Figures 1 to 3, by being arranged outside the cast
Cover 8, can completely cut off inside and outside, not only avoid internal engagement action from causing to damage to external human body or object, but also can prevent internal engagement
Movement not will receive external disturbance, ensure the normal work of gripper.In addition, specifically, the cast outer cover 8 can with but it is unlimited
In for metal casing.
It advanced optimizes, the positive nozzle position of the cast outer cover 8 is equipped with closed plate 801, and in the closed plate
It is provided on 801 and the 7 one-to-one arcuate movement track through-hole 802 of claw bar；The other end of the claw bar 7 is passing through
The cast outer cover 8 is stretched out after corresponding arcuate movement track through-hole 802.As shown in Figure 1, by the way that the cast outer cover 8 is arranged
And the closed plate 801, it can maximumlly completely cut off inside and outside, the further normal work for ensureing gripper.Further, since described
Arcuate movement track through-hole 802 can constrain the rotation angle of the claw bar 7, therefore crawl object can only be realized using (A) method
Part movement realizes release object motion using (B) method.
Optimization, Anti-slip cover 701 is cased in the other end of the claw bar 7.As shown in figure 3, by the claw bar 7
End be arranged Anti-slip cover 701, can greatly promote itself and grab object frictional force, it is ensured that object crawl stability.This
Outside, the Anti-slip cover 701 can be, but not limited to be made of elastic materials such as silica gel, rubber or ox plate muscles.
Optimization, all driven gears 6 are around 4 spaced set of driving gear.As shown in Fig. 2, by aforementioned
Design, can make each claw bar 7 that can further mention with identical dynamics Clamping Center object when grabbing object
Rise the stability of object crawl.Citing, when the number of the driven claw is three groups, all driven gears 6 are around institute
It states driving gear 4 and forms equilateral triangle.
Specifically, the claw bar 7 can be, but not limited to as metallic rod.In addition, optimization, in order to be suitble to grab size not
The object of specification, the claw bar 7 can also use elastic rod, so as to the flexible feature using elastic rod make it is all driven
Gear 6 can synchronous rotary (7 end of claw bar all contact sizes all at this time not specification object).
To sum up, it using miniature gears gripper and its working method provided by the present embodiment, has the following technical effect that：
(1) it present embodiments provides a kind of same by rotation drive device and the gearing relationships driving driven claw of multiple groups
The Novel machine machinery claw that step is collapsed or scattered, since the Novel machine machinery claw has compact, crawl opening and closing active strokes big and can
Auto-strengthening is crawled the advantages of object, can be adapted for mount in narrow space, realizes in compact automated instruments equipment
The purpose of middle crawl small-sized object；
(2) it by setting cast outer cover, can completely cut off inside and outside, internal engagement action had both been avoided to make external human body or object
It at damage, and can prevent internal engagement action from not will receive external disturbance, ensure the normal work of gripper；
(3) by the way that Anti-slip cover is arranged in claw boom end, the frictional force of itself and crawl object can be greatly promoted, it is ensured that object
The stability of part crawl；
(4) the miniature gears gripper also have that cost of implementation is cheap, control mode is easy and it is easy be accurately positioned etc. it is special
Point is convenient for practical promotion and application.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are each under the inspiration of the present invention
The product of kind form.Above-mentioned specific embodiment should not be understood the limitation of pairs of protection scope of the present invention, protection of the invention
Range should be subject to be defined in claims, and specification can be used for interpreting the claims.
Claims (10)
1. a kind of miniature gears gripper, it is characterised in that：Including main mounting plate (1), gear mounting plate (2), rotation driving dress
Set (3), driving gear (4) and at least three groups of driven claws；
The gear mounting plate (2) is mounted on the front of the main mounting plate (1), and the rotation drive device (3) is mounted on institute
State the back side of main mounting plate (1), the rotation axis (301) of the rotation drive device (3) sequentially pass through the main mounting plate (1) and
The gear mounting plate (2), driving gear (4) fixing sleeve is on the rotation axis (301)；
The driven claw includes driven gear fixing axle (5), driven gear (6) and claw bar (7), wherein the driven tooth
One end of wheel fixing axle (5) is vertically mounted on the front of the gear mounting plate (2), and the driven gear (6) is actively set on institute
The other end of driven gear fixing axle (5) is stated, one end of the claw bar (7) is being vertically mounted on the driven gear (6) just
On the fringe region of face；
All driven gear (6) is arranged around the driving gear (4), and make the driven gear (6) only with the active
Gear (4) engagement.
2. a kind of miniature gears gripper as described in claim 1, it is characterised in that：It further include cast outer cover (8), wherein
The cast outer cover (8) cooperates backwards to nozzle and the main mounting plate (1), is formed and surrounds the gear mounting plate (2), described
The protection shell of driving gear (4), the driven gear fixing axle (5) and the driven gear (6)；
The other end of the claw bar (7) stretches out the cast outer cover (8).
3. a kind of miniature gears gripper as claimed in claim 2, it is characterised in that：The positive pipe of the cast outer cover (8)
Mouth position is equipped with closed plate (801), and is provided with and the one-to-one arc of the claw bar (7) on the closed plate (801)
Motion profile through-hole (802)；
The other end of the claw bar (7) is stretching out the cast outer cover across corresponding arcuate movement track through-hole (802) afterwards
(8)。
4. a kind of miniature gears gripper as claimed in claim 2, it is characterised in that：The cast outer cover (8) is outside metal
Cover.
5. a kind of miniature gears gripper as described in claim 1, it is characterised in that：In the other end of the claw bar (7)
It is cased with Anti-slip cover (701).
6. a kind of miniature gears gripper as described in claim 1, it is characterised in that：All driven gears (6) are around institute
State driving gear (4) spaced set.
7. a kind of miniature gears gripper as described in claim 1, it is characterised in that：When the number of the driven claw is three
When group, all driven gears (6) form equilateral triangle around the driving gear (4).
8. a kind of miniature gears gripper as described in claim 1, it is characterised in that：The claw bar (7) is metallic rod.
9. a kind of miniature gears gripper as described in claim 1, it is characterised in that：The rotation drive device (3) is micro-
Type motor or rotary cylinder.
10. a kind of working method of miniature gears gripper as claimed in any one of claims 1 to 9 wherein, which is characterized in that packet
It includes as follows：
(A) when grabbing object：Start rotation drive device (3), rotation axis (301) and driving gear (4) is driven to revolve clockwise
Turn, then pass through the meshing relation of driving gear (4) and driven gear (6), driven gear (6) is driven to rotate counterclockwise, so that
All claw bars (7) are collapsed relative to the axle center of the rotation axis (301), to clamp target piece；
(B) when discharging object：Start rotation drive device (3), rotation axis (301) and driving gear (4) is driven to revolve counterclockwise
Turn, then pass through the meshing relation of driving gear (4) and driven gear (6), driven gear (6) is driven to rotate clockwise, so that
All claw bars (7) scatter relative to the axle center of the rotation axis (301), to unclamp gripping objects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811014924.1A CN108908388A (en) | 2018-08-31 | 2018-08-31 | A kind of miniature gears gripper and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811014924.1A CN108908388A (en) | 2018-08-31 | 2018-08-31 | A kind of miniature gears gripper and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108908388A true CN108908388A (en) | 2018-11-30 |
Family
ID=64407388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811014924.1A Pending CN108908388A (en) | 2018-08-31 | 2018-08-31 | A kind of miniature gears gripper and its working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108908388A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693260A (en) * | 2019-01-29 | 2019-04-30 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN109822613A (en) * | 2019-01-29 | 2019-05-31 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN110973667A (en) * | 2019-04-18 | 2020-04-10 | 中国计量大学 | Multi-station collybia albuminosa automatic root cutting device |
| CN113910280A (en) * | 2021-12-14 | 2022-01-11 | 季华实验室 | Electric clamping jaw device |
| CN113927620A (en) * | 2021-12-16 | 2022-01-14 | 季华实验室 | Multi-finger clamping jaw device capable of achieving iris contraction movement and manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS571686A (en) * | 1980-05-27 | 1982-01-06 | Shigeo Hirose | Gripping mechanism |
| JPH1035887A (en) * | 1996-07-22 | 1998-02-10 | Kubota Corp | Device for feeding bulbous vegetable |
| DE102010063195A1 (en) * | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Gripping device for use in handling robot for gripping e.g. cubic workpieces, has pivot axle selectively arranged in and external engagement with gear arrangement, where simultaneously rotational direction of another axle is reversible |
| JP2014094445A (en) * | 2012-10-11 | 2014-05-22 | Canon Inc | Holding device and robot device |
| JP2016200201A (en) * | 2015-04-09 | 2016-12-01 | オリエンタルモーター株式会社 | Gear mechanism and hand mechanism capable of taking out power force from multi-directions |
| US20160348773A1 (en) * | 2015-05-29 | 2016-12-01 | Gerald Sebert | Adjusting device |
| JP2017047481A (en) * | 2015-08-31 | 2017-03-09 | 国立大学法人東京工業大学 | Robotic hand |
| CN208645363U (en) * | 2018-08-31 | 2019-03-26 | 四川晟实科技有限公司 | A kind of miniature gears gripper |
-
2018
- 2018-08-31 CN CN201811014924.1A patent/CN108908388A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS571686A (en) * | 1980-05-27 | 1982-01-06 | Shigeo Hirose | Gripping mechanism |
| JPH1035887A (en) * | 1996-07-22 | 1998-02-10 | Kubota Corp | Device for feeding bulbous vegetable |
| DE102010063195A1 (en) * | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Gripping device for use in handling robot for gripping e.g. cubic workpieces, has pivot axle selectively arranged in and external engagement with gear arrangement, where simultaneously rotational direction of another axle is reversible |
| JP2014094445A (en) * | 2012-10-11 | 2014-05-22 | Canon Inc | Holding device and robot device |
| JP2016200201A (en) * | 2015-04-09 | 2016-12-01 | オリエンタルモーター株式会社 | Gear mechanism and hand mechanism capable of taking out power force from multi-directions |
| US20160348773A1 (en) * | 2015-05-29 | 2016-12-01 | Gerald Sebert | Adjusting device |
| JP2017047481A (en) * | 2015-08-31 | 2017-03-09 | 国立大学法人東京工業大学 | Robotic hand |
| CN208645363U (en) * | 2018-08-31 | 2019-03-26 | 四川晟实科技有限公司 | A kind of miniature gears gripper |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693260A (en) * | 2019-01-29 | 2019-04-30 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN109822613A (en) * | 2019-01-29 | 2019-05-31 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN109822613B (en) * | 2019-01-29 | 2022-02-08 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN109693260B (en) * | 2019-01-29 | 2023-09-05 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN110973667A (en) * | 2019-04-18 | 2020-04-10 | 中国计量大学 | Multi-station collybia albuminosa automatic root cutting device |
| CN111015702A (en) * | 2019-04-18 | 2020-04-17 | 中国计量大学 | Multi-station collybia albuminosa automatic root cutting method |
| CN111015702B (en) * | 2019-04-18 | 2021-12-03 | 中国计量大学 | Multi-station collybia albuminosa automatic root cutting method |
| CN113910280A (en) * | 2021-12-14 | 2022-01-11 | 季华实验室 | Electric clamping jaw device |
| CN113910280B (en) * | 2021-12-14 | 2022-03-08 | 季华实验室 | Electric clamping jaw device |
| CN113927620A (en) * | 2021-12-16 | 2022-01-14 | 季华实验室 | Multi-finger clamping jaw device capable of achieving iris contraction movement and manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108908388A (en) | A kind of miniature gears gripper and its working method | |
| CN208645363U (en) | A kind of miniature gears gripper | |
| CN105583832B (en) | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive | |
| CN107214729B (en) | Flexible pneumatic manipulator with it is multi-functional to snatch | |
| EP2832504A3 (en) | Robot | |
| JP2009006460A (en) | Robot hand | |
| CN105818158A (en) | Parallel clamping self-adaptive robot finger device with flexible piece and rod system | |
| JP2008203356A5 (en) | ||
| EP2886265A3 (en) | Robot and maintenance method for robot | |
| CN109434863A (en) | Adaptive mechanical gripper | |
| CN105643647A (en) | Self-adaption robot finger device of composite flexible drive flat clamp | |
| CN108145729A (en) | Five connecting rods put down folder adaptive robot finger apparatus | |
| US9254574B2 (en) | Robot arm assembly | |
| CN105666508A (en) | Rod-wheel combined type coupling self-adapting under-actuated robot finger device | |
| CN204935651U (en) | Multi-joint manipulator | |
| CN105773606A (en) | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping | |
| CN105798945A (en) | Single-ring flexible piece parallel clamping self-adaption robot finger device | |
| CN207565037U (en) | Rotary working platform and press die | |
| CN110900641B (en) | Parallel-clamping self-adaptive three-finger under-actuated robot hand | |
| DE102017125923A1 (en) | Robotic arm and robot arm unit | |
| CN111037592A (en) | Flexible bionic manipulator | |
| CN109834701A (en) | A kind of mixed connection manipulator's device containing seven bar flexible force sense finger mechanisms | |
| JPS5978725A (en) | Automatic bender of plate body | |
| CN105500400A (en) | Three-finger mechanical paw | |
| CN210589275U (en) | Manipulator waste material taking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |